Feature/non kalman tf fix by CemTulgar23 · Pull Request #500 · itu-auv/auv-software

CemTulgar23 · 2025-12-25T16:05:52Z

When creating new points from pre-existing objects like Bin, Octagon, and Gate, instead of sending these points to object_map_tf_server via the set_transform service to be processed by the Kalman filter, they are now published to the object_transform_non_kalman_create topic and directly published to the TF tree without going through the Kalman filter.

…rulan yeni frame'leri yayınlamak için olulturuldu. Yeni frame'ler oluşturulurken kalman'a sokulmuyor.

Copilot

Pull request overview

This PR refactors the transform handling mechanism for pre-existing objects (Bin, Octagon, Gate, etc.) by introducing a new non-Kalman filtered path. Instead of using the set_object_transform service which applies Kalman filtering, transforms are now published via the object_transform_non_kalman_create topic and added directly to the TF tree without filtering.

Key Changes:

Added new C++ callback and broadcast method to handle non-Kalman filtered transforms in object_map_tf_server
Refactored Python trajectory publishers to publish transforms via the new topic instead of calling the service
Modernized Python initialization code to use super() instead of explicit parent class calls

Reviewed changes

Copilot reviewed 13 out of 13 changed files in this pull request and generated 8 comments.

Show a summary per file

File	Description
auv_smach/src/auv_smach/common.py	Refactored to use `super()` for initialization; added unused publisher
auv_smach/src/auv_smach/bin.py	Added outcomes parameter to service state
torpedo_frame_publisher.py	Added non-Kalman publisher; contains critical syntax error
slalom_trajectory_publisher.py	Added non-Kalman publisher; commented out service calls
pipeline_trajectory_publisher.py	Added non-Kalman publisher; commented out service calls
octagon_trajectory_publisher.py	Added non-Kalman publisher; commented out service calls
gps_target_frame_publisher.py	Added non-Kalman publisher; contains critical syntax errors
gate_trajectory_publisher.py	Added non-Kalman publisher; attribute name typo
bin_trajectory_publisher.py	Added publishers with unused one; added Turkish comments
object_position_filter.cpp	Added explanatory Turkish comments for Kalman filter parameters
object_map_tf_server_ros.cpp	Implemented non-Kalman transform handling; large commented code block
object_map_tf_server_ros.hpp	Added non-Kalman filter data structures and method declarations
slalom.yaml	Removed YAML document separator

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auv_navigation/auv_mapping/scripts/gps_target_frame_publisher.py

auv_navigation/auv_mapping/scripts/gate_trajectory_publisher.py

auv_navigation/auv_mapping/src/object_map_tf_server_ros.cpp

auv_smach/src/auv_smach/common.py

Copilot · 2025-12-25T16:08:47Z

auv_navigation/auv_mapping/scripts/bin_trajectory_publisher.py

+        self.object_transform_pub = rospy.Publisher(
+            "map/object_transform_updates", TransformStamped, queue_size=10
+        )
+


This publisher for "map/object_transform_updates" is created but never used. Line 80 shows it's commented out. If this publisher is not needed, it should be removed to avoid confusion.

Suggested change

self.object_transform_pub = rospy.Publisher(

"map/object_transform_updates", TransformStamped, queue_size=10

)

auv_navigation/auv_mapping/scripts/torpedo_frame_publisher.py

Copilot · 2025-12-25T16:08:48Z

auv_navigation/auv_mapping/scripts/gps_target_frame_publisher.py


    # -------------------- Helpers --------------------
+
+    void send_transform(self, transform):


The syntax for defining a method in Python is incorrect. The keyword "void" is not valid in Python. The correct syntax should use "def" instead of "void".

@copilot open a new pull request to apply changes based on this feedback
void locating in the python code was deleted and def started to use instead of void.

Copilot · 2025-12-25T16:08:48Z

auv_navigation/auv_mapping/scripts/gps_target_frame_publisher.py

        # 5) Build and send GPS target frame via service
        ts = self._build_transform(self.child_frame, self.parent_frame, target_pos, q)
        try:
+            send_transform(self, ts)


The method is called with "self" as the first argument, but this is incorrect. In Python, when calling an instance method from within the class, "self" should not be passed as an argument - it is automatically passed. The call should be "self.send_transform(ts)" instead.

Copilot · 2025-12-25T16:47:40Z

@CemTulgar23 I've opened a new pull request, #501, to work on those changes. Once the pull request is ready, I'll request review from you.

Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com>

Copilot · 2025-12-25T16:49:06Z

@CemTulgar23 I've opened a new pull request, #502, to work on those changes. Once the pull request is ready, I'll request review from you.

Copilot · 2025-12-25T16:49:30Z

@CemTulgar23 I've opened a new pull request, #503, to work on those changes. Once the pull request is ready, I'll request review from you.

Copilot · 2025-12-25T16:49:56Z

@CemTulgar23 I've opened a new pull request, #504, to work on those changes. Once the pull request is ready, I'll request review from you.

Copilot · 2025-12-25T16:50:23Z

@CemTulgar23 I've opened a new pull request, #505, to work on those changes. Once the pull request is ready, I'll request review from you.

Copilot · 2025-12-25T16:50:49Z

@CemTulgar23 I've opened a new pull request, #506, to work on those changes. Once the pull request is ready, I'll request review from you.

CemTulgar23 · 2025-12-27T11:37:36Z

@copilot open a new pull request to apply changes based on the comments in this thread

Copilot · 2025-12-27T11:37:43Z

@CemTulgar23 I've opened a new pull request, #507, to work on those changes. Once the pull request is ready, I'll request review from you.

Syntax error solved. Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com>

Some comment lines that were created to test the code was deleted. Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com>

Copilot · 2025-12-27T12:04:49Z

@CemTulgar23 I've opened a new pull request, #508, to work on those changes. Once the pull request is ready, I'll request review from you.

…v/auv-software into feature/non-kalman-tf-fix

… deleted and correct code was added. Some unnecessary commend lines was removed.

eminmeydanoglu

Hey, good first PR!

The overall design for the solution looks good. I left some comments.

eminmeydanoglu · 2025-12-30T12:49:03Z

auv_navigation/auv_mapping/scripts/bin_trajectory_publisher.py

        pose.orientation = transform.transform.rotation
        return pose

+    # göndereceğimiz transform mesajını oluşturur. Objenin odom frame'e göre pozisyon ve oryantasyonunu ayarlar


All code and comments in english, por favor :D

eminmeydanoglu · 2025-12-30T12:51:18Z

auv_navigation/auv_mapping/include/auv_mapping/object_map_tf_server_ros.hpp

@@ -30,6 +34,11 @@ class ObjectMapTFServerROS {
 private:
  void broadcast_transforms();

+  void broadcast_non_kalman_transforms();
+
+  void object_transform_non_kalman_create_callback(
+      const geometry_msgs::TransformStamped::ConstPtr &msg);
+


The name "non-kalman" is confusing, this is just static transform publishing, dont need the term "kalman" in it?

Maybe something like static_broadcasts.

you can ask ai for recommendations.

eminmeydanoglu · 2025-12-30T12:51:44Z

auv_navigation/auv_mapping/scripts/bin_trajectory_publisher.py

+        self.object_non_kalman_transform_pub = rospy.Publisher(
+            "object_transform_non_kalman_create", TransformStamped, queue_size=10
+        )


Again, confusing topic name.

eminmeydanoglu · 2025-12-30T12:52:15Z

auv_navigation/auv_mapping/src/object_map_tf_server_ros.cpp

  double distance_threshold_;
  node_handler_private.param<double>("distance_threshold", distance_threshold_,
-                                     4.0);
+                                     4.0);  // 4.0


redundant comment

eminmeydanoglu · 2025-12-30T12:52:43Z

auv_navigation/auv_mapping/src/object_map_tf_server_ros.cpp

+  ROS_DEBUG_STREAM("Stored static transform from " << static_frame_ << " to "
+                                                   << target_frame);


nice debug.

senceryazici · 2026-01-05T04:18:22Z

@CemTulgar23 good work. When describing a feature please also include why this feature is being added.

For example, "this feature is added since there are certain objects that are detected with enough precision that we decided kalman filter makes it even worse" etc.

CemTulgar23 added 2 commits December 23, 2025 20:25

object_transform_non_kalman_create adlı topic trajectory'lerde oluştu…

dbd0f15

…rulan yeni frame'leri yayınlamak için olulturuldu. Yeni frame'ler oluşturulurken kalman'a sokulmuyor.

State yazımlarında kod okunuşunda değişiklik

1ca7d98

Copilot AI review requested due to automatic review settings December 25, 2025 16:05

Copilot started reviewing on behalf of CemTulgar23 December 25, 2025 16:06 View session

Copilot AI reviewed Dec 25, 2025

View reviewed changes

Copilot AI mentioned this pull request Dec 25, 2025

Fix Python syntax errors in send_transform method #501

Closed

Update auv_navigation/auv_mapping/scripts/gate_trajectory_publisher.py

f73c50e

Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com>

Copilot AI mentioned this pull request Dec 25, 2025

Fix incorrect Python method calls in gps_target_frame_publisher.py #502

Closed

This was referenced Dec 25, 2025

Fix incorrect Python method syntax in send_transform #503

Closed

Fix incorrect instance method calls in gps_target_frame_publisher.py #504

Closed

This was referenced Dec 25, 2025

Fix invalid Python syntax in send_transform method #505

Closed

Fix incorrect Python syntax in send_transform method #506

Closed

Copilot AI mentioned this pull request Dec 27, 2025

Clean up dead code and fix syntax errors from non-Kalman transform refactor #507

Closed

CemTulgar23 and others added 2 commits December 27, 2025 14:48

Update auv_navigation/auv_mapping/scripts/torpedo_frame_publisher.py

db7dd22

Syntax error solved. Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com>

Update auv_navigation/auv_mapping/src/object_map_tf_server_ros.cpp

f411c8e

Some comment lines that were created to test the code was deleted. Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com>

Copilot AI mentioned this pull request Dec 27, 2025

Fix Python syntax: replace void with def in method definition #508

Closed

CemTulgar23 added 4 commits December 27, 2025 15:16

Remove commented-out code in dynamic_transform_callback for clarity

1ea4117

Merge branch 'feature/non-kalman-tf-fix' of https://github.com/itu-au…

657b49f

…v/auv-software into feature/non-kalman-tf-fix

Uncorrect code locating in the update_filter_frame_index function was…

1b8b63f

… deleted and correct code was added. Some unnecessary commend lines was removed.

format error fixed

1711e1b

CemTulgar23 requested a review from eminmeydanoglu December 27, 2025 16:41

CemTulgar23 requested review from melihokur17 and ozanhakantunca December 27, 2025 16:41

eminmeydanoglu requested changes Dec 30, 2025

View reviewed changes

Necessary changes which Emin suggested were done.

64107bf

	self.object_transform_pub = rospy.Publisher(
	"map/object_transform_updates", TransformStamped, queue_size=10
	)


		# -------------------- Helpers --------------------

		void send_transform(self, transform):

		ROS_DEBUG_STREAM("Stored static transform from " << static_frame_ << " to "
		<< target_frame);

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CemTulgar23 commented Dec 25, 2025 •

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